version: 66.03
glider: 139
mission: 3
dive: 34
start: 7 13 108 20 33 0
data:
$ID,139
$MISSION,3
$DIVE,34
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,210
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51851
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,320
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,50000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1270956.8
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2795
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,2079
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2664
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-15.422788
$PRESSURE_SLOPE,0.000116328
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.25
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043412433
$SEABIRD_T_H,0.00063263031
$SEABIRD_T_I,2.551855e-05
$SEABIRD_T_J,2.8651004e-06
$SEABIRD_C_G,-9.8929949
$SEABIRD_C_H,1.093717
$SEABIRD_C_I,-0.0013470891
$SEABIRD_C_J,0.00018459925
$GPS1,202438,2106.149,-15750.147,32,1.2,32,9.8
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-69.3
$GPS2,203211,2106.186,-15750.201,10,4.4,29,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.204,0.152
$KALMAN_X,-1136.7,106.8,251.0,5267.5,-10.0
$KALMAN_Y,4170.3,-299.8,149.2,-23440.8,176.3
$MHEAD_RNG_PITCHd_Wd,296.8,9865,-11.9,-7.143
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.96,-175.2,0.0,0.0,0,81,0.00,0.00,-59.65,0.000,2,0.000,0.000,425,2070,2985
$GC,83,-0.96,-175.2,3.2,-5.5,11,108,12.43,2.38,-6.50,0.000,4,0.163,0.073,2577,3478,3382
$GC,304,-0.89,-175.2,41.7,-10.9,41,311,0.08,2.33,0.00,0.000,6,0.079,0.021,2598,2075,3384
$GC,631,-0.84,-175.2,75.0,-9.8,72,636,0.00,2.35,0.00,0.000,4,0.000,0.064,2598,3478,3385
$GC,683,-0.88,-175.2,79.7,-8.4,76,687,0.00,2.28,0.00,0.000,6,0.000,0.019,2597,2070,3385
$GC,1008,-0.88,-175.2,106.5,-7.6,106,1012,0.00,2.33,0.00,0.000,4,0.000,0.069,2598,686,3386
$GC,1074,-0.91,-175.2,111.6,-7.3,111,1081,0.00,2.28,0.00,0.000,6,0.000,0.018,2598,2093,3386
$GC,1402,-0.95,-175.2,133.7,-6.3,142,1406,0.00,2.38,0.00,0.000,4,0.000,0.067,2597,689,3387
$GC,1423,-1.00,-175.2,135.3,-6.1,143,1430,0.00,2.10,0.00,0.000,6,0.000,0.038,2598,2037,3387
$GC,1749,-1.05,-175.2,156.3,-5.9,174,1754,0.15,2.38,0.00,0.000,4,0.042,0.065,2548,3460,3388
$GC,1815,-0.99,-175.2,161.8,-7.9,179,1822,0.15,2.25,0.00,0.000,6,0.076,0.021,2580,2074,3387
$GC,2140,-0.99,-175.2,181.7,-6.8,210,2144,0.00,2.35,0.00,0.000,4,0.000,0.036,2580,682,3388
$GC,2168,-1.04,-175.2,183.7,-7.3,212,2172,0.00,2.25,0.00,0.000,6,0.000,0.020,2580,2082,3388
$GC,2491,-1.07,-175.2,206.3,-7.0,238,2495,0.00,2.30,0.00,0.000,4,0.000,0.069,2581,3460,3388
$GC,2534,-1.15,-175.2,209.7,-7.2,240,2539,0.17,2.25,0.00,0.000,6,0.040,0.021,2525,2077,3388
$GC,2861,-1.06,-175.2,239.6,-7.8,256,2863,0.17,0.00,0.00,0.000,6,0.074,0.000,2563,2076,3387
$GC,3171,-1.06,-175.2,259.3,-6.5,271,3175,0.00,2.35,0.00,0.000,4,0.000,0.052,2562,677,3387
$GC,3255,-1.12,-175.2,265.6,-7.9,275,3259,0.00,1.62,0.00,0.000,6,0.000,0.071,2562,1732,3386
$GC,3588,-1.12,-175.2,288.5,-6.3,291,3592,0.00,2.65,0.00,0.000,4,0.000,0.064,2562,3335,3385
$GC,3676,-1.16,-175.2,294.6,-6.3,295,3680,0.00,2.05,0.00,0.000,6,0.000,0.025,2562,2083,3384
$GC,4020,-1.16,-175.2,315.3,-6.0,306,4024,0.00,2.40,0.00,0.000,4,0.000,0.041,2562,677,3382
$GC,4048,-1.20,-175.2,317.2,-7.1,306,4053,0.12,2.28,0.00,0.000,6,0.051,0.025,2524,2068,3382
$GC,4379,-1.14,-175.2,343.0,-7.8,314,4381,0.10,0.00,0.00,0.000,6,0.087,0.000,2545,2071,3380
$GC,4704,-1.14,-175.2,365.4,-7.0,322,4708,0.00,2.38,0.00,0.000,4,0.000,0.043,2544,680,3378
$GC,4742,-1.14,-175.2,368.2,-7.9,323,4746,0.00,2.30,0.00,0.000,6,0.000,0.028,2545,2075,3378
$GC,5066,-1.14,-175.2,388.5,-6.0,331,5070,0.00,2.40,0.00,0.000,4,0.000,0.043,2544,3478,3377
$GC,5098,-1.14,-175.2,390.8,-6.9,331,5104,0.00,2.33,0.00,0.000,6,0.000,0.062,2544,2087,3376
$GC,5429,-1.14,-175.2,412.1,-6.6,340,5433,0.00,2.42,0.00,0.000,4,0.000,0.045,2544,679,3374
$GC,5461,-1.14,-175.2,414.4,-7.6,340,5468,0.00,2.33,0.00,0.000,6,0.000,0.051,2545,2077,3374
$GC,5792,-1.14,-175.2,437.9,-7.2,349,5793,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2080,3372
$STATE,5993,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5993,begin apogee
$GC,5998,-0.31,0.0,452.3,7.0,354,6143,0.85,0.00,141.48,0.893,6,0.065,0.000,2728,2081,2664
$STATE,6143,end apogee,CONTROL_FINISHED_OK
$STATE,6143,begin climb
$GC,6145,0.96,175.2,458.3,0.0,357,6295,1.25,0.00,145.45,0.867,6,0.100,0.000,3013,2081,1949
$GC,6601,0.84,175.2,434.5,8.7,369,6605,0.15,2.45,0.00,0.000,4,0.098,0.044,2981,3478,1938
$GC,6667,0.77,175.2,428.9,9.0,370,6671,0.00,2.40,0.00,0.000,6,0.000,0.038,2981,2074,1938
$GC,7003,0.72,175.2,402.4,7.8,379,7007,0.15,2.45,0.00,0.000,4,0.093,0.048,2949,676,1934
$GC,7041,0.74,192.1,399.7,6.7,380,7061,0.00,1.65,13.45,0.802,6,0.000,0.078,2949,1694,1880
$GC,7369,0.76,208.8,378.3,6.7,388,7390,0.00,3.15,15.65,0.810,4,0.000,0.056,2948,3473,1811
$GC,7485,0.76,208.8,368.7,8.7,390,7489,0.00,2.40,0.00,0.000,6,0.000,0.041,2948,2078,1811
$GC,7822,0.80,208.8,343.9,7.5,399,7826,0.00,2.45,0.00,0.000,4,0.000,0.048,2948,676,1807
$GC,7921,0.80,208.8,335.8,8.6,401,7925,0.00,2.38,0.00,0.000,6,0.000,0.030,2948,2072,1804
$GC,8235,0.89,246.7,316.3,6.1,409,8277,0.17,2.50,33.42,0.815,4,0.051,0.075,2995,3466,1657
$GC,8323,0.86,246.7,308.8,9.8,411,8327,0.00,2.38,0.00,0.000,6,0.000,0.030,2994,2072,1656
$GC,8649,0.83,246.7,277.7,10.0,424,8654,0.00,2.42,0.00,0.000,4,0.000,0.048,2995,676,1651
$GC,8722,0.78,246.7,269.7,11.5,427,8726,0.15,2.35,0.00,0.000,6,0.092,0.028,2967,2080,1649
$GC,9037,0.82,249.7,245.8,7.1,442,9041,0.00,2.45,0.00,0.000,4,0.000,0.044,2966,673,1649
$GC,9131,0.82,249.7,237.3,9.3,446,9135,0.00,2.38,0.00,0.000,6,0.000,0.027,2967,2081,1647
$GC,9452,0.89,264.5,216.0,6.7,462,9473,0.10,0.00,15.65,0.715,6,0.062,0.000,2994,2085,1585
$GC,9785,0.89,264.5,189.3,8.3,484,9786,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2085,1582
$GC,10103,0.89,264.5,161.5,8.2,514,10107,0.00,2.42,0.00,0.000,4,0.000,0.041,2994,674,1581
$GC,10176,0.89,264.5,155.1,9.1,520,10180,0.00,2.33,0.00,0.000,6,0.000,0.035,2994,2087,1578
$GC,10502,0.93,264.5,130.1,7.7,550,10506,0.00,2.42,0.00,0.000,4,0.000,0.044,2994,673,1579
$GC,10590,0.93,264.5,122.0,9.3,557,10597,0.00,2.33,0.00,0.000,6,0.000,0.021,2994,2078,1578
$GC,10918,1.02,294.5,97.4,6.3,588,10951,0.10,2.45,26.65,0.608,4,0.059,0.064,3026,666,1461
$GC,10989,1.02,294.5,91.7,8.3,594,10996,0.00,2.35,0.00,0.000,6,0.000,0.057,3025,2081,1458
$GC,11316,1.02,294.5,65.2,7.4,625,11320,0.00,2.42,0.00,0.000,4,0.000,0.044,3025,664,1458
$GC,11383,1.02,294.5,60.0,7.7,630,11389,0.00,2.28,0.00,0.000,6,0.000,0.020,3025,2086,1456
$GC,11709,1.08,309.3,39.8,6.7,661,11727,0.00,0.00,13.75,0.528,6,0.000,0.000,3025,2090,1403
$GC,12057,1.15,319.5,15.4,6.9,710,12075,0.00,2.47,10.35,0.482,4,0.000,0.070,3025,669,1359
$GC,12161,1.18,319.5,7.1,7.8,728,12168,0.12,2.00,0.00,0.000,6,0.047,0.058,3069,1965,1357
$STATE,12211,end climb,SURFACE_DEPTH_REACHED
$STATE,12211,begin surface coast
$FINISH,-0.2,1.011691
$STATE,12252,end surface coast,CONTROL_FINISHED_OK
$STATE,12252,begin surface
$SM_CCo,12332,0.00,0.000,0,0,1353,321.59
$SM_GC,0.63,11.45,0.00,0.00,0.038,0.000,0.000,434,2118,1353,-10.80,1.10,321.59
$IRIDIUM_FIX,2054.83,-15859.08,071097,171758
$TT8_MAMPS,0.029146
$HUMID,1848
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,23.30
$XPDR_PINGS,729
$24V_AH,23.4,34.691
$10V_AH,10.2,20.127
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,27.875,117.100,415.850,0.000,0.000,24.784,33.939,259.513,182.250,0.000,0.000,32.285,1344.259,8718.369,541.385,1668.593,498.779,33.365,1341.016,0.000,1649.484,0.000,0.470
$DEVICE_MAMPS,163.371,78.234,892.788,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,499.954,489.624,849.534,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37991,744
$CAP_FILE_SIZE,110833,13
$CFSIZE,260165632,256073728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130708,235938,2107.206,-15751.355,31,1.2,31,9.8